CN117883154A

CN117883154A - Single puncture depth regulating and controlling mechanism and regulating and driving mechanism thereof

Info

Publication number: CN117883154A
Application number: CN202310467426.7A
Authority: CN
Inventors: 吴凡; 林春生; 习程梅
Original assignee: Huzhou Tuas Medical Technology Co ltd
Current assignee: Huzhou Tuas Medical Technology Co ltd
Priority date: 2022-10-13
Filing date: 2023-04-27
Publication date: 2024-04-16
Also published as: CN221470722U; CN220025912U; CN221358180U; CN117883153A; CN118216986A; CN221411314U; WO2024077975A1; CN221450722U; CN118216985A; CN118216987A; CN117883155A

Abstract

The invention discloses a single puncture depth regulating and controlling mechanism and a regulating and controlling driving mechanism thereof, wherein a needle control assembly is arranged on a base and is connected with the needle control driving mechanism through a flexible sleeve or a flexible cable; the needle control assembly is fixed relative to the puncture needle and can drive the puncture needle to move relative to the base under the drive of the needle control driving mechanism so as to pull out or puncture inwards for a certain distance. When the flexible sleeve is connected, a driving wire, or hydraulic oil or gas is arranged in the flexible sleeve, a first power element is arranged in the needle control driving mechanism, the first power element drives the driving wire, or the hydraulic oil or gas to move relative to the flexible sleeve, power is transmitted to the needle control assembly, and the power element is one or a combination of a reciprocating part, a hydraulic oil pump and an air pump; the time control needle assembly is connected through a flexible cable and is provided with a second power element, the second power element is a motor or an electric push rod, and the needle control driving mechanism drives the needle control assembly to pull out or insert the puncture needle through the action of electrically controlling the second power element.

Description

Single puncture depth regulating and controlling mechanism and regulating and driving mechanism thereof

Technical Field

The invention relates to the technical field of medical instruments, in particular to a single puncture depth regulating mechanism and a regulating and driving mechanism thereof.

Background

The puncture needle is commonly used for minimally invasive surgery, and the application fields include, but are not limited to: the puncture needle pierces the body cavity and extracts the living tissue or secretions for testing, the puncture needle pierces the body cavity and injects gas or contrast medium into the body cavity for contrast examination, the puncture needle pierces the body cavity and injects medicine into the body cavity for treatment. In a radioactive particle implantation operation, for example, isotope radioactive source particles are injected as a drug into a tumor target site of a patient in a set orientation using a plurality of puncture needles, and after the implantation of the particles is completed, the puncture needles are required to be pulled out from the body cavity of the patient.

In the operation process, a plurality of puncture needles are required to be penetrated, the puncture directions of different puncture needles are different, radioactive particles are required to be selectively implanted into the puncture needles, and the puncture needles implanted with the radioactive particles are required to be pulled out, so that the puncture needles can cause radiation injury if the puncture needles are manually pulled out by an operator. Therefore, an automatic medical instrument is necessary to replace a doctor to finish the operation in a radiation environment, but electronic components such as a motor, a force sensor, an encoder, a limit switch and the like are integrated in the automatic medical instrument, so that the automatic medical instrument is not easy to clean, disinfect and sterilize.

Disclosure of Invention

The invention aims to provide a single puncture depth regulating mechanism and a regulating driving mechanism thereof, which solve the problems of low operation precision and personnel injury existing in the prior art that a puncture needle is manually operated to pull out.

The technical aim of the invention is realized by the following technical scheme:

the single puncture depth regulating and controlling mechanism comprises a base, a needle control assembly and a needle control driving mechanism, wherein the needle control assembly is arranged on the base and is connected with the needle control driving mechanism through a flexible sleeve or a flexible cable; the needle control assembly can be fixed relative to the puncture needle, and can drive the puncture needle to move relative to the base under the drive of the needle control driving mechanism so as to pull out outwards or puncture inwards for a certain distance.

Preferably, the needle control assembly is sleeved outside the puncture needle, the puncture needle is clamped by the clamping component and is driven to move under the action of the moving mechanism, so that the puncture needle is driven to move unidirectionally or reciprocate by friction force; or the abutting part abuts against the puncture needle and is driven to move under the action of the moving mechanism, so that the puncture needle is pushed to move unidirectionally or reciprocate; or the puncture needle is pressed by a friction wheel or a friction belt and driven to reciprocate under the action of friction driving force.

Preferably, the circumferential surface of the friction wheel or the friction belt can compress the puncture needle under the action of the compressing mechanism and can drive the puncture needle to move through friction driving force; the pressing mechanism is an active pressing mechanism or a passive pressing mechanism; the two friction wheels or the friction belts jointly press the puncture needles when the two clamping pieces are arranged.

Preferably, when the needle control assembly clamps the puncture needle through the clamping component and drives the clamping component to move under the action of the moving mechanism, and drives the puncture needle to move unidirectionally or reciprocate through friction force, the moving mechanism comprises a moving seat slidably arranged on the base, and the clamping component is used for clamping the puncture needle so as to enable the puncture needle and the moving seat to be relatively fixed; the movable seat can reciprocate on the base and drive the clamping component to move, the clamping component adopts an active clamping mechanism or a passive clamping mechanism, and the needle control assembly is also connected with a transmission piece used for connecting the needle control driving mechanism.

The active clamping mechanism is provided with a first driving unit which can actively control the clamping part to clamp and release the puncture needle, and can be matched with the movable seat to realize upward needle pulling movement; the passive clamping mechanism automatically clamps when the movable seat moves upwards to pull out the needle, and automatically releases when the movable seat moves downwards in a resetting mode.

The passive clamping mechanism automatically clamps when the movable seat moves upwards to pull out the needle, and automatically releases when the movable seat moves downwards in a resetting manner;

when the needle control assembly props against the puncture needle through the abutting part and drives the abutting part to move under the action of the moving mechanism, so that the puncture needle is pushed to move unidirectionally or reciprocate, the pushing hook is arranged at the top of the abutting part and props against the tail handle of the puncture needle to pull out the needle upwards or insert the needle downwards.

Preferably, the passive clamping mechanism adopts a clamping jaw clamping assembly, or a side propping assembly, or a rotating clamping assembly to clamp the puncture needle.

The clamping assembly of the clamping jaw comprises the clamping jaw, the clamping jaw is guided by a hinge or a chute and can perform opening or closing movement, the clamping jaw is automatically folded and clamped with the puncture needle when the clamping jaw is driven to move upwards by the movement mechanism, and the clamping jaw is automatically opened and loosened with the puncture needle when the clamping jaw is driven to move downwards by the movement mechanism; the claw clamping assembly comprises a sliding block, a knock pin is arranged on the sliding block, the sliding block is driven by a moving mechanism, the claw moves upwards and downwards under the pushing action of the sliding block, an inclined plane or a sliding groove is arranged on the claw, the knock pin pushes the claw to move upwards, claw clamping is achieved when the inclined plane of the lower side of the knock pin pushes the claw to move upwards, and the knock pin pushes the inclined plane of the upper side of the claw to push the claw to move downwards, so that the claw is loosened.

The side propping assembly is a side compacting assembly or a side tensioning assembly, the side compacting assembly or the side tensioning assembly can automatically press/tension the puncture needle from the side when the side compacting assembly or the side tensioning assembly is driven upwards by the movement mechanism, the upward driving of the puncture needle is realized by virtue of friction force generated by pressing/tensioning, and then the side compacting assembly or the side tensioning assembly can be automatically loosened when the side compacting assembly or the side tensioning assembly is driven downwards by the movement mechanism, so that the puncture needle is reset.

The side pressing assembly or the side tensioning assembly adopts a connecting rod clamping assembly, and the puncture needle is pried and pressed/pulled through a connecting rod; or the side pressing component or the side tensioning component adopts a cam clamping component, and the puncture needle is pressed/pulled through cam rotation; or the side pressing assembly or the side tensioning assembly adopts an inclined plane or a sliding groove clamping assembly, and the pressing block or the tensioning block is driven to move through the inclined plane or the sliding groove to press/tension the puncture needle; the side pressing assembly or the side tensioning assembly is provided with a limiting part which can not be continuously loosened when the side pressing assembly or the side tensioning assembly is loosened to a certain position.

The rotary clamping assembly comprises a rotary piece and a rotary driving mechanism, when the rotary clamping assembly is driven by the motion mechanism to move upwards, the rotary piece is driven to rotate or bend by the rotary driving mechanism, a through hole, a through groove or a double-protruding column is arranged on the rotary piece, and when the rotary piece rotates or bends, a puncture needle penetrating through the through hole, the through groove or the double-protruding column is distinguished; when the rotary clamping assembly is driven by the movement mechanism to move downwards, the rotary driving mechanism drives the rotary piece to rotate or bend to a limiting position, and the rotary piece is not used for distinguishing the puncture needle in the limiting position.

The rotary driving mechanism is a driving connecting rod and can pry or pull the rotary piece to rotate or bend when moving upwards; or the rotary driving mechanism is a gear and a rack, the rack drives the gear, and the gear drives the rotary piece to rotate or bend; the rotating member is a rotating column or a rotating sheet or a flexible sheet.

Preferably, when the needle control assembly is connected with the needle control driving mechanism through the flexible sleeve, a driving wire, or hydraulic oil, or gas is arranged in the flexible sleeve, a first power element is arranged in the needle control driving mechanism, and the first power element drives the driving wire, or the hydraulic oil, or the gas to move relative to the flexible sleeve, so that power is transmitted to the needle control assembly, and the power element is one or a combination of a reciprocating part, a hydraulic oil pump and an air pump.

Or when the needle control assembly is connected with the needle control driving mechanism through the flexible cable, the needle control assembly is provided with a second power element, the second power element is a motor or an electric push rod, and the needle control driving mechanism acts by electrically controlling the second power element, so that the needle control assembly is driven to pull out or insert the puncture needle.

Preferably, when a driving wire is arranged in the flexible sleeve, one end of the driving wire is connected with the needle control assembly, the other end of the driving wire is connected with a quick joint mechanism, the quick joint mechanism is detachably connected with the needle control driving mechanism, and the quick joint mechanism adopts one or a combination of a thread structure, a locking structure and a buckling joint structure.

Preferably, the quick joint mechanism simultaneously leads out two sections or one section of driving wires; when the quick connector mechanism simultaneously leads out two sections of driving wires, and when the part corresponding to one end of the driving wire moves, the part corresponding to the other end of the driving wire moves reversely by the same distance; when the quick connector mechanism only leads out a section of driving wire, the driving wire can drive the needle control assembly to move unidirectionally along the pulling-out direction or reciprocate along the pulling-out and penetrating directions, or a reset element is further arranged on the needle control assembly and is used for resetting by utilizing elasticity after the driving wire drives the needle control assembly to move along the pulling-out direction.

Preferably, a first piston is arranged in the quick connector mechanism and connected with the driving wire, and when the first piston reciprocates in the quick connector mechanism under the driving of the needle control driving mechanism, the first piston drives the driving wire to reciprocate along the flexible sleeve.

Or a winding wheel mechanism is arranged in the quick connector mechanism, the driving wire is wound on the winding wheel, and when the winding wheel is driven by the needle control driving mechanism to rotate, the winding wheel drives the driving wire to move relative to the flexible sleeve; or a friction wheel mechanism or a friction belt mechanism is arranged in the quick joint mechanism, the friction wheel mechanism or the friction belt mechanism directly clamps the driving wire, and when the friction wheel or the friction belt moves under the driving of the needle control driving mechanism, the friction wheel or the friction belt drives the driving wire to move relative to the flexible sleeve through friction.

Or the driving wire extends out of the quick joint mechanism for a small section, the small section of driving wire is clamped or propped against by the needle control driving mechanism, and the needle control driving mechanism drives the driving wire to make relative movement with the quick joint mechanism so as to transmit power to the needle control assembly, and the needle control driving mechanism is one or a combination of a friction wheel assembly, a friction belt assembly and a reciprocating motion assembly.

Preferably, hydraulic oil or gas is arranged in the flexible sleeve, one end of the flexible sleeve is connected with the connector, a cavity communicated with the flexible sleeve is arranged in the connector, a second piston is arranged in the connector, the second piston can reciprocate in the cavity in the connector under the driving of the needle control driving mechanism, and the hydraulic oil or gas is driven by the second piston to move relative to the flexible sleeve, so that power is transmitted to the needle control assembly; or one end of the flexible sleeve is connected with a needle control driving mechanism, the needle control driving mechanism is provided with a hydraulic pump or an air pump, and the hydraulic pump or the air pump can pump out or inject hydraulic oil or air in the flexible sleeve so as to drive the hydraulic oil or air to move relative to the flexible sleeve, so that power is transmitted to the needle control assembly.

The invention has the beneficial effects that:

according to the invention, the single puncture depth regulating mechanism which can be connected with any puncture needle is matched with the automatically controlled driving mechanism, so that any puncture needle can be independently controlled to be pulled out upwards or penetrated, the single puncture depth is controlled, the control is convenient, the action is stable and reliable, and the precision is high.

The needle control assembly is connected with a needle control driving mechanism through a flexible sleeve or a flexible cable, a driving wire, hydraulic oil or gas is arranged in the flexible sleeve, a first power element is arranged in the needle control driving mechanism, and the first power element drives the driving wire, the hydraulic oil or the gas to move relative to the flexible sleeve, so that power is transmitted to the needle control assembly; the time control needle assembly is connected through a flexible cable and is provided with a second power element, the second power element is a motor or an electric push rod, and the needle control driving mechanism is controlled by electric control to act through the second power element, so that the needle control assembly is driven to pull out or insert the puncture needle. The flexible sleeve or the flexible cable separates the needle control driving mechanism from the needle control assembly, and the power of the needle control driving mechanism can be transmitted to the needle control assembly, so that the puncture needle can be pulled out or punctured, and the separation of a sterile environment and a bacteria environment is ensured.

Drawings

Fig. 1 shows an assembly view of the present embodiment 1;

FIG. 2 shows an exploded view of the construction of the single needle control assembly of FIG. 1;

FIG. 3 is an exploded view of the drive mechanism and transmission mechanism of FIG. 1;

fig. 4 shows a schematic structural view of the embodiment 1 when it is openable based on friction wheel transmission;

FIG. 5 shows a schematic view of the structure of FIG. 4 when opened;

fig. 6 shows an assembly view of the present embodiment 2 based on a screw drive;

fig. 7 shows a schematic structural diagram of another control needle driving mechanism based on screw transmission in this embodiment 2;

FIG. 8 is a schematic view showing the structure of the fastening and non-return elements based on the protruding columns in embodiment 3;

FIG. 9 shows an exploded view of the structure of FIG. 8;

FIG. 10 is a schematic view showing a part of the structure of the stud of the clamping member of FIG. 8;

fig. 11 shows a schematic structural diagram of the embodiment 3 based on the fastening of the protruding column and the non-return spring plate;

FIG. 12 shows a schematic partial construction of the aborted rebound flap portion of FIG. 11 (check condition);

FIG. 13 shows a schematic partial construction of the aborted rebound flap portion of FIG. 11 (released state);

fig. 14 shows a schematic structural diagram of the present embodiment 4 based on active tightening;

FIG. 15 is a schematic view showing a partial structure of the latch portion of FIG. 14;

FIG. 16 is a schematic view showing a structure of embodiment 5 of the present invention based on side tightening of a chuck block;

FIG. 17 is a schematic view showing a partial structure of the clamping block portion of FIG. 16;

FIG. 18 is a schematic view showing another structure of embodiment 5 of the present invention based on side tightening of the clamping block;

FIG. 19 is a schematic view showing a partial structure of the clamping block portion of FIG. 18;

FIG. 20 is an exploded view showing the structure of the embodiment 10 based on the movable base and the clamp block being clamped in cooperation;

FIG. 21 shows a schematic view of the structure of the clamp block of FIG. 20;

FIG. 22 shows an assembled view (partial) of the structure of FIG. 20;

FIG. 23 is a schematic view showing the structure of a control needle assembly and a control needle driving mechanism according to embodiment 7 of the present invention;

FIG. 24 is a cross-sectional view of a control needle drive mechanism of embodiment 7 of the present invention;

FIG. 25 is a schematic diagram showing the connection structure between the control needle assembly and the 3D printing template according to embodiment 7 of the present invention;

FIG. 26 is a schematic diagram showing the structure of the needle control assembly according to embodiment 7 of the present invention;

FIG. 27 is a second schematic diagram of the operation of the needle control assembly according to embodiment 7 of the present invention;

fig. 28 shows a schematic structural diagram of the needle control driving mechanism in embodiment 8 in a reel manner;

FIG. 29 is a schematic view showing another reel mode of the needle control driving mechanism in the embodiment 8;

Fig. 30 shows a schematic diagram of the structure of the driving wire outgoing line of the control needle driving mechanism in this embodiment 8;

fig. 31 is a schematic view showing another structure of the driving wire outgoing line of the control needle driving mechanism in the present embodiment 8;

FIG. 32 is a schematic view showing the structure of one of the transmission assemblies in the present embodiment 9;

FIG. 33 is a schematic view showing the structure of the transmission assembly in the present embodiment 10;

FIG. 34 is a schematic view showing the construction of a hydraulic tube type transmission assembly in the present embodiment 11;

FIG. 35 shows the mounting structure of the hydraulic tube of FIG. 34 on a mounting plate;

FIG. 36 shows the mounting structure of the plurality of hydraulic tubes of FIG. 34 on a mounting plate;

fig. 37 is a schematic structural view showing a synchronous belt-based needle drawing driving mechanism in embodiment 12;

FIG. 38 is a schematic view showing the structure of an adjustment unit in the clutch assembly of FIG. 37;

FIG. 39 is a cross-sectional view showing the assembled structure of the adjustment unit and the power transmission unit in FIG. 37 and a partially enlarged view of the connecting portion;

FIG. 40 is a schematic view showing the assembly of a power transmission unit of another construction in embodiment 12 of the present invention on a mounting plate;

FIG. 41 is a cross-sectional view showing the construction of the power transmission unit of FIG. 40;

FIG. 42 is a schematic view showing the assembly of a power transmission unit of another construction in embodiment 12 of the present invention on a mounting plate;

fig. 43 shows a cross-sectional view of the power transmission unit structure in fig. 42.

Detailed Description

Example 1

The single puncture depth regulating and controlling mechanism comprises a base, a needle control assembly and a needle control driving mechanism, wherein the needle control assembly is arranged on the base and is connected with the needle control driving mechanism through a flexible sleeve; the needle control assembly can be fixed relative to the puncture needle, and can drive the puncture needle to move relative to the base under the drive of the needle control driving mechanism so as to pull out outwards or puncture inwards for a certain distance.

The needle control assembly is sleeved outside the puncture needle, compresses the puncture needle through the friction wheel or the friction belt and drives the puncture needle to reciprocate under the action of friction driving force. The clamping piece is a friction wheel or a friction belt, and the circumferential surface of the friction wheel or the friction belt can compress the puncture needle under the action of the compressing mechanism and can drive the puncture needle to move through friction driving force; the pressing mechanism is an active pressing mechanism or a passive pressing mechanism; the two friction wheels or the friction belts jointly press the puncture needles when the two clamping pieces are arranged.

The flexible sleeve is internally provided with a driving wire, or hydraulic oil or gas, the needle control driving mechanism is internally provided with a first power element (such as a driving motor 1211101 of the embodiment), the first power element drives the driving wire, or the hydraulic oil or gas to move relative to the flexible sleeve, so that power is transmitted to the needle control assembly, and the power element is one or a combination of a reciprocating part, a hydraulic oil pump and an air pump.

Referring to fig. 2 of the drawings, the needle control assembly further includes two guide runner plates 1211109 disposed opposite to each other, a waist hole is formed in the guide runner plate 1211109, two ends of a left shaft 125105 where a left roller 121201 is located are fitted in the waist hole through a left bearing 1211202, and a top thread 121301 capable of extending into the waist hole is disposed on the guide runner plate 1211109; the top wire 121301 can abut against the left bearing 1211202 to push the left roller 121201 to move in the waist hole (in this case, the top wire 121301 corresponds to a passive tightening mechanism) so that the left roller 121201 moves in a direction approaching the right roller 121203 to clamp the puncture needle 11, and an elastic block 1211103 is further provided in the waist hole between the left shaft 125105 and the position of the top wire 121301. The right axle 125205 on which the right roller 121203 is mounted on the first side plate 1211104 and the second side plate 1211105 at both ends thereof by means of right bearings 1211201, respectively.

Referring to fig. 1 and 2 of the drawings, a mounting cavity is formed in the base, the needle control assembly is disposed in the mounting cavity, and the cavities on two opposite sides of the mounting cavity are provided with through holes which are opposite to each other and used for the penetration of the puncture needle 11, and the through holes are opposite to the area between the left roller 121201 and the right roller 121203. The base includes upper support 1211106 and lower support 1211107 that set up relatively and first curb plate 1211104 and second curb plate 1211105 that set up relatively, and upper support, lower support and first curb plate and second curb plate enclose the installation cavity jointly, are provided with the perforation on upper support and the lower support respectively. The guide runner plates 1211109 are respectively mounted on the inner walls of the first side plate 1211104 and the second side plate 1211105, and both ends of the right shaft on which the right roller 121203 is located are respectively mounted on the first side plate 1211104 and the second side plate 1211105 through the right bearings.

Referring to fig. 4 and 5 of the drawings, the base includes a first portion and a second portion hinged to each other and capable of being opened and closed relatively, the first portion and the second portion have inner cavities forming mounting cavities, the left roller 121201 and the right roller 121203 are disposed in the inner cavities of the first portion and the second portion, respectively, and the through hole is formed by two semicircular portions located on the first portion and the second portion, respectively. The base can then be opened and then can be used in conjunction with the needle 11 that has been pierced into place without readjusting the needle 11.

Referring to fig. 3 and 4 of the drawings, a transmission assembly is provided on the base, the transmission assembly including a reel 121204 coaxial with the right roller 121203, the reel 121204 being adapted to engage a first drive wire 124101 (drive cord or drive wire arrangement) of the needle control drive mechanism. A plurality of pinch rollers (i.e., pinch portions in this embodiment) including a first pinch roller 121202 and a second pinch roller 121205, the first pinch roller 121202 and the second pinch roller 121205 are disposed around the reel 121204, and the first pinch roller 121202 and the second pinch roller 121205 are used to pinch the first driving wire 124101 on the circumferential surface of the reel 121204. The second pinch roller 12105 has shoulder screws 121206 on the axle. The guide block 124103 is disposed at the reel, and the guide block 124103 is provided with a first wire passing channel and a second wire passing channel for the first driving wire 124101 to pass through, and the first driving wire 124101 can be wound on the reel 121204 after passing through the first wire passing channel and pass out through the second wire passing channel. The guide block 124103 is provided with guide posts (i.e., guide portions in the present embodiment) 124104 at the ends of the first and second wire passages near the reel, respectively, and the guide posts 124104 are used for redirecting the first driving wire 124101 from the first wire passage to the reel 121204 or from the reel 121204 to the second wire passage. The guide block 124103 is provided with a guide sleeve 124102 for the first driving wire 124101 to penetrate through at the passage openings of the first wire passing passage and the second wire passing passage at the end far from the reel 121204.

Further, the embodiment also provides a regulation driving mechanism, which comprises a driving motor 1211101, wherein the driving motor is used for providing driving force; and a transmission assembly connected to the driving motor, which can transmit the driving force of the driving motor 1211101 to the needle control assembly through the first driving wire 124101. Referring to fig. 1 and 3 of the drawings, the transmission assembly includes a first housing 1211102, a first reel 1211108 disposed in the first housing 1211102 and wound with a first driving wire 124101, and two ends of the first driving wire 124101 respectively extend out to be connected with the needle control assembly.

Referring to the assembly structure of the single needle control assembly and the driving assembly shown in fig. 1 and 3, the driving motor 1211101 drives the first reel 1211108 to rotate in the forward and reverse directions, so that the first driving wire 124101 drives the reel of the needle pulling assembly to rotate, and the right roller 121203 is driven to rotate in the forward and reverse directions, so that the left roller 121201 can be matched to realize the movement of the puncture needle 11 in the pulling and penetrating directions.

Example 2

The embodiment provides a monomer puncture degree of depth regulation and control mechanism and regulation and control actuating mechanism thereof, include: the base and accuse needle subassembly, accuse needle subassembly sets up on the base and links to each other through flexible cable with outside accuse needle actuating mechanism, and accuse needle subassembly can be fixed relatively with pjncture needle 11 to can drive pjncture needle 11 and remove along the base under accuse needle actuating mechanism's drive, in order to outwards extract or inwards puncture certain distance. The needle control assembly is sleeved outside the puncture needle, and the puncture needle is propped against the abutting part and driven to move under the action of the moving mechanism, so that the puncture needle is pushed to move unidirectionally or reciprocate.

The needle control assembly is provided with a second power element (such as a micro motor 13301 in the embodiment), the second power element is a motor or an electric push rod, and the needle control driving mechanism drives the needle control assembly to pull out or insert the puncture needle by electrically controlling the second power element.

Referring to fig. 6 of the drawings, the needle assembly includes a first moving seat 13101 slidably disposed on a base and a clamping member engaged with the first moving seat 13101. The clamping component is used for clamping or propping against the puncture needle 11 so as to enable the puncture needle 11 to be relatively fixed with the first movable seat 13101, and the needle control assembly is also connected with a transmission part for connecting a needle control driving mechanism. The clamping member includes a clamping interface provided on the first movable housing 13101, the clamping interface being capable of receiving the needle body of the puncture needle 11, the first movable housing 13101 being connected to a transmission member.

Referring to fig. 6 of the drawings, the card interface is in interference fit with the needle body of the puncture needle 11; or the clamping interface is locked and fixed with the needle body of the puncture needle 11 through a screw or a buckle and other structures; or the card interface is in clearance fit with the needle body of the puncture needle 11, and the portion of the first movable seat 13101 corresponding to the card interface can abut or be connected with the needle handle of the puncture needle 11. The base is also connected with a buckle 13106 which buckles the puncture needle 11 on the base to avoid the puncture from inclining.

The embodiment also provides a needle control driving mechanism, which comprises a driving motor, wherein the driving motor is used for providing driving force; and the transmission assembly is connected with the driving motor and can transmit the driving force of the driving motor to the needle control mechanism through the driving wire. The transmission assembly includes a first screw 13105 (the first screw 13105 simultaneously serves as a transmission member of the needle control assembly) coupled to a micro motor 13301, the first screw 13105 is disposed within a push hook housing 13104, a distal end of the first screw 13105 is fixed to a first end cap 13103 on top of the push hook housing 13104 by a first bearing 13102, and the micro motor 13301 is fixed to a base 13107. The first movable seat 13101 of the needle control assembly is sleeved on the first screw rod 13105; or referring to fig. 7 of the drawings, a sliding block 4422303 sleeved on the second screw rod 4422302 is connected with the moving seat of the needle control assembly through a second driving wire 4422307.

Referring to the assembled structure of the single needle control assembly and the driving assembly of fig. 6 of the drawings, the driving motor drives the first moving seat 13101 to reciprocate along the first screw rod 13105 through the first screw rod 13105, so that the puncture needle 11 can be pulled out and pierced. However, the first screw 13105 is configured to be always connected to the puncture needle 11, so that it can be moved in synchronization with the puncture needle 11 in one direction and cannot be reset in the reverse direction, and thus the length of the first screw 13105 needs to be longer than the total pulled-out length of the puncture needle 11.

Referring to fig. 7 of the drawings, the transmission assembly includes a second housing 4422305, a second screw rod 4422302 disposed in the second housing 4422305, one end of which is connected to a first transmission shaft 4422304, and the other end of which is fixed to the second housing 4422305 through a second bearing 4422309, a sliding shaft 4422301 parallel thereto is further provided at one side of the second screw rod 4422302, and a sliding block 4422303 is simultaneously slidably engaged with the sliding shaft 4422301. The second driving wire 4422307 enters the second housing through the first sleeve 4422308 fixed on the second housing 4422305, the portion of the second driving wire 4422307 connected to the sliding block 4422303 is further sleeved with the first correcting sleeve 4422306, and the first correcting sleeve 4422306 is fixedly connected to the sliding block 4422303, so as to prevent the second driving wire 4422307 from bending during the displacement process.

As shown in fig. 6, a check assembly is further provided on the base, and the check member of the check assembly is in interference fit with the puncture needle 11 or abuts against the puncture needle 11 and blocks the puncture needle 11 from rebounding by friction force. The check piece is a clamping ring or a clamping structure, the clamping ring is a circular clamping ring 13201 sleeved on the needle body of the puncture needle 11, and the clamping ring is a U-shaped clamping ring 13202 clamped on the needle body of the puncture needle 11.

Example 3

The embodiment provides a monomer puncture degree of depth regulation and control mechanism and regulation and control actuating mechanism thereof, including base and accuse needle subassembly, accuse needle subassembly sets up on the base and links to each other through flexible sleeve with accuse needle actuating mechanism, and accuse needle subassembly can be fixed relatively with pjncture needle 11 to can drive pjncture needle 11 and remove along the base under accuse needle actuating mechanism's drive, in order to outwards pull out or inwards puncture certain distance. The needle control assembly is sleeved outside the puncture needle, the puncture needle is clamped by the clamping component, and the clamping component is driven to move under the action of the moving mechanism, so that the puncture needle is driven to move unidirectionally or reciprocate by friction force, the moving mechanism comprises a moving seat which is arranged on the base in a sliding manner, and the clamping component is used for clamping the puncture needle, so that the puncture needle and the moving seat are relatively fixed; the movable seat can reciprocate on the base and drive the clamping component to move, the clamping component adopts a passive clamping mechanism, and the needle control assembly is also connected with a transmission piece used for connecting the needle control driving mechanism; the passive clamping mechanism automatically clamps when the movable seat moves upwards to pull out the needle, and automatically releases when the movable seat moves downwards in a resetting mode.

Referring to fig. 8-10, the passive clamping mechanism uses a rotational clamping assembly to clamp the needle. The needle control assembly comprises a second movable seat 1113206 which is slidably arranged on the base and a clamping component which is matched with the second movable seat 1113206, wherein the clamping component is used for clamping the puncture needle 11 so that the puncture needle 11 and the second movable seat 1113206 are relatively fixed, the needle control assembly is also connected with a transmission part which is used for connecting a driving mechanism, the transmission part is a driving wire which is connected with the second movable seat, the driving wire is of a first driving wire 1113201 structure, and the driving wire can bear tensile stress and compressive stress so as to transmit tensile force or thrust force.

The rotary clamping assembly comprises a rotary piece and a rotary driving mechanism, the rotary clamping assembly drives the rotary piece to rotate or bend through the rotary driving mechanism when being driven by the motion mechanism to move upwards, a through hole, a through groove or a double-protruding column is arranged on the rotary piece, and a puncture needle passing through the through hole, the through groove or the double-protruding column is distinguished when the rotary piece rotates or bends; when the rotary clamping assembly is driven by the movement mechanism to move downwards, the rotary driving mechanism drives the rotary piece to rotate or bend to a limiting position, and the rotary piece is not used for distinguishing the puncture needle in the limiting position.

The clamping component adopts a rotary clamping mode, and comprises a main body and two protruding columns 1113208 extending from the main body, wherein the main body is rotatably arranged on the second movable seat 1113206 through a third bearing 1113207, a clamping opening for the puncture needle 11 to pass through is formed between the two protruding columns 1113208, or a through hole is formed in the main body, the main body is rotatably arranged on the second movable seat 1113206, and the through hole forms the clamping opening for the puncture needle 11 to pass through. The width of the clamping opening is larger than the diameter of the needle body of the puncture needle 11, the main body is connected with a first transmission wire 1113201, and a second sleeve 1113202 is sleeved outside the first transmission wire 1113201; the body can be rotated in one direction by the driving force of the driving mechanism in the pulling-out direction of the puncture needle 11 to reduce the width of the projection of the clamping opening on the plane perpendicular to the axial direction of the puncture needle 11 so as to fasten the puncture needle 11.

The passive clamping is adopted in this embodiment, that is, the clamping of the puncture needle 11 is realized by using the driving force of pulling out the puncture needle 11, and the clamping and pulling out of one driving force are realized. Referring to fig. 10, the body is reversely rotated by the driving force of the driving mechanism in the penetrating direction of the puncture needle 11 to increase the projected width of the chucking opening on the plane perpendicular to the axial direction of the puncture needle 11, and when the body is reversely rotated to a width larger than the diameter of the needle body of the puncture needle 11, the end of the body or the first transmission wire 1113201 is abutted against and relatively fixed to the abutment portion (the right boss of the second moving seat 1113206 with reference to fig. 9) of the second moving seat 1113206.

After the first transmission wire 1113201 pulls the main body to fasten the puncture needle 11, the main body, the second movable seat 1113206 and the puncture needle 11 form a whole. The first transmission wire 1113201 continues to pull the main body, so that the whole body formed by the main body, the second moving seat 1113206 and the puncture needle 11 is pulled out by a certain distance, then the first transmission wire 1113201 reversely pushes the main body to reversely rotate, so that the clamping component is separated from the puncture needle 11, and then the first transmission wire 1113201 can reversely push the second moving seat 1113206 to move by the same distance to reset due to the fact that the main body abuts against the second moving seat 1113206. Thus, the repeated reciprocating movement within a range can realize the intermittent continuous external pulling of the puncture needle 11, and further, the longer total pulling-out distance of the puncture needle 11 can be realized by utilizing the reciprocating movement within a small distance.

In this embodiment, the base is further provided with a check assembly, the check assembly is a check member 1113209, the check member 1113209 is fixed on the base, and has a check opening for the puncture needle 11 to pass through, and the check opening is in interference fit with the puncture needle 11, as shown in fig. 9 of the accompanying drawings. Because the human body has elasticity, after the puncture needle 11 is pulled out for a certain distance, the human body can generate a rebound pulling force along the puncture direction on the puncture needle 11, so that the rebound pulling force is overcome by the interference fit of the check piece and the puncture needle 11, or the check piece abuts against the puncture needle 11 and stops the puncture needle 11 from rebounding through friction force, so that the puncture needle 11 is kept still after being pulled out for a certain distance.

Referring to fig. 11-13 of the drawings, the non-return assembly may further employ a non-return spring 11133101, wherein one end of the non-return spring is hinged to the base, the other end of the non-return spring contacts the needle body of the puncture needle 11, and the non-return spring 11133101 has an acute included angle with the portion of the puncture needle 11 near the needle tip, and an edge of one end of the non-return spring 11133101 contacting the puncture needle 11 has a limiting notch capable of at least partially accommodating the needle body of the puncture needle 11. Because the non-return spring piece and the part of the puncture needle 11 close to the needle tip have an acute angle, when the puncture needle 11 is pulled out, the non-return spring piece has a tendency to rotate outwards and reduce the angle, and because the non-return spring piece 11133101 can freely rotate outwards, the puncture needle 11 is not affected when pulled out; when the puncture needle 11 is pierced, the non-return spring 11133101 has a tendency to rotate inward and increase the included angle, and since one end of the non-return spring abuts against the puncture needle 11 and cannot rotate inward, the puncture needle 11 cannot be pierced, and thus the puncture needle 11 can be prevented from being pierced reversely by a certain distance after being pulled out due to the influence of the rebound tensile force of the human body.

Example 4

This embodiment is similar to embodiment 3 in construction except that the gripping members employ an active gripping mechanism.

The active clamping mechanism is provided with a first driving unit which can actively control the clamping part to clamp and release the puncture needle, and can be matched with the movable seat to realize upward needle pulling movement.

Referring to fig. 14 and 15 of the drawings, the clamping component comprises a clamping block 114206, a clamping opening for the puncture needle 11 to pass through is formed in the clamping block 114206, the width of the clamping opening is larger than the diameter of the needle body of the puncture needle 11, a second transmission wire 114202 and a third transmission wire 114205 are respectively connected with a third moving seat 114203 and the clamping block 114206, a third sleeve 114201 is sleeved outside the second transmission wire 114202, and a third sleeve 114204 is sleeved outside the third transmission wire 114205; the clamping block can move under the driving of the driving mechanism, so that the groove wall at one side of the clamping opening can tightly prop the puncture needle 11 penetrating through the clamping opening against the side surface of the third movable seat 114203. The third moving seat 114203 is provided with a third mounting groove for accommodating the clamping block 114206, one side of the third mounting groove is provided with an opening for the clamping block 114206 to partially extend out of the third mounting groove, the clamping opening is formed in the portion of the clamping block 114206 extending out of the third mounting groove, and the third mounting groove can restrict the movement track of the clamping block 114206 or adopts a hinge to replace the third mounting groove to restrict the movement track of the clamping block 114206.

The active clamping is adopted in this embodiment, that is, the clamping and the pulling out have corresponding driving forces respectively (the third moving seat 114203 and the clamping block 114206 are respectively connected with the second transmission wire 114202 and the third transmission wire 114205). When the puncture needle 11 is pulled out, the clamping block 114206 is pulled by the third transmission wire 114205 to enable the puncture needle 11 to be abutted against the side face of the third movable seat 114203, and then the third movable seat 114203 is pulled by the second transmission wire 114202 to enable the puncture needle 11 to be pulled out along with the movement of the third movable seat 114203. Upon reset, the latch 114206 is released to disengage the needle 11 from the third movable seat 114203, and then the second drive wire is pushed in opposite directions to drive the third movable seat 114203 to move in opposite directions for reset.

Example 5

In this embodiment, other embodiments are further improved, and some of the same content refers to other embodiments, which are not described in detail herein. The embodiment adopts a side pressing mode to press the puncture needle.

The side pressing component or the side tensioning component adopts a connecting rod clamping component, and the puncture needle is pried and pressed/pulled by a connecting rod (such as a first clamping block 1114107 or a second clamping block 1114114 of the embodiment); or the side pressing component or the side tensioning component adopts a cam clamping component, and the puncture needle is pressed/pulled through cam rotation; or the side pressing assembly or the side tensioning assembly adopts an inclined plane or a sliding groove clamping assembly, and the pressing block or the tensioning block is driven to move through the inclined plane or the sliding groove to press/tension the puncture needle; the side pressing component or the side tensioning component is provided with a limiting part which can not be released any more when being released to a certain position.

Referring to fig. 16 and 17 of the drawings, the clamping member includes a first clamping block 1114107, a middle position between two ends of the first clamping block 1114107 is rotatably connected to a fourth moving seat 1114105 through a rotating shaft 1114108, one end of the first clamping block 1114107 is connected to a fourth transmission wire 1114102, the other end contacts the puncture needle 11, and a fourth sleeve 1114101 is sleeved on the fourth transmission wire 1114102; the first clamping block 1114107 can rotate around the rotational connection point between the first clamping block and the fourth moving seat 1114105 under the action of the driving force of the needle control driving mechanism along the pulling-out direction of the puncture needle 11, so that one end of the first clamping block, which contacts the puncture needle 11, abuts against the side surface of the fourth moving seat 1114105, namely, a side surface compression mode is adopted. The first gripping block 1114107 can be reversely rotated about its rotational connection point with the fourth movable seat 1114105 by a driving force of the needle driving mechanism in the penetration direction of the puncture needle 11 so that one end thereof contacting the puncture needle 11 releases the puncture needle 11.

Referring to fig. 16 and 17 of the drawings, the fourth moving seat 1114105 is disposed on the first guide post 1114104 (at least one in number) between the first upper fixing seat 1114103 and the first lower fixing seat 1114109, and the fourth moving seat 1114105 is slidably engaged with the first guide post 1114104 by means of the snap ring 1114106. The first lower fixing base 1114109 is disposed on the base 1114110, the base 1114110 has an assembling groove for accommodating the first lower fixing base 1114109, and an elastic spacer 1114111 is disposed in the assembling groove.

Referring to fig. 18 and 19, the structure of the clamping member shown in the drawings is similar to that of fig. 16 and 17, and the clamping principle is similar, except that the fifth moving seat 1114113 is different from the second clamping block 1114114 in the layout structure from that of fig. 16 and 17, and the second upper fixing seat 1114112 is different from the first upper fixing seat 1114103 of the structure shown in fig. 16 and 17.

Example 6

In this embodiment, other embodiments are further improved, and some of the same content refers to other embodiments, which are not described in detail herein. The embodiment adopts a claw clamping assembly to clamp the puncture needle.

The clamping assembly comprises clamping jaws (clamping blocks 3 of the embodiment), the clamping jaws are guided through hinges or sliding grooves and can be opened or closed, the moving mechanism drives the clamping jaws to automatically retract and clamp the puncture needles when moving upwards, and the moving mechanism drives the clamping jaws to automatically open and loosen the puncture needles when moving downwards.

The claw clamping assembly comprises a sliding block (a sixth moving seat 4 of the embodiment), a knock pin (a first bulge and a second bulge of the embodiment) is arranged on the sliding block, the sliding block is driven by a moving mechanism, the claw moves upwards and downwards under the pushing action of the sliding block, an inclined plane or a sliding groove is arranged on the claw, claw clamping is achieved when the knock pin pushes the claw to move upwards against the inclined plane of the lower side of the claw, and claw loosening is achieved when the knock pin pushes the claw to move downwards against the inclined plane of the upper side of the claw.

Referring to fig. 20 to 22 of the drawings, the clamping member comprises a clamping block 3 slidably engaged with the base, the clamping block 3 has two clamping portions which can be opened and closed relatively and clamp the puncture needle 11, the sixth movable seat 4 has a clamping groove capable of accommodating the clamping portions, and the sixth movable seat 4 is connected with a transmission member (a driving rope 10 or a transmission wire); the sixth movable seat 4 can move in one direction under the action of the driving force of the needle control driving mechanism along the pulling-out direction of the puncture needle 11, and the two clamping parts are pressed by the clamping grooves and are folded relatively so as to clamp the puncture needle 11.

Referring to fig. 22 of the drawings, two opposing first protrusions (two lower portions of fig. 22) are provided on the wall surface of the card slot, and the two first protrusions can press the two holding portions, respectively, so that the two holding portions are folded relatively to clamp the puncture needle 11. The wall surface of the clamping groove is also provided with a second bulge (1 at the upper part of fig. 22), and when the clamp block 3 clamps the puncture needle 11, the second bulge corresponds to the area between the two clamping parts of the clamp block 3; the sixth movable seat 4 can move reversely under the action of the driving force of the needle control driving mechanism along the penetrating direction of the puncture needle 11, so that the second protrusion enters the area between the two clamping parts and presses the clamping parts to two sides, thereby loosening the puncture needle 11.

The draw-in groove is U-shaped structure, and it is including being located the both sides cell wall in two clamping part outsides and just to the terminal tank bottom of clamping part, and first protruding and second protruding all set up on the tank bottom, and first protruding is close to pjncture needle 11 needle point one side, second protruding is close to pjncture needle 11 needle handle one side, the terminal of clamping part have respectively with first protruding and the protruding complex guide inclined plane of second. The outer sides of the two clamping part tail ends far away from each other are respectively provided with a first guide inclined plane used for being matched with a corresponding first bulge at a position close to the needle tip side of the puncture needle 11, and the inner sides of the two clamping part tail ends close to each other are respectively provided with a second guide inclined plane used for being matched with a second bulge at a position close to the needle handle side of the puncture needle 11.

Specifically, referring to fig. 21 and 22 of the drawings, in the present embodiment, the clamping and releasing of the two clamping portions of the clamping block 3 are driven by the relative movement of the sixth moving seat 4 and the clamping block 3. When the sixth moving seat 4 drives the clamping of the two clamping parts of the clamping block 3, the two first protrusions on the sixth moving seat 4 are respectively contacted with the first guiding inclined planes at the outer sides of the bottoms of the two clamping parts, and along with the continuous movement of the sixth moving seat 4, the two clamping parts are gradually extruded to be folded by the two first protrusions. In the process, the second protrusion is moved from the gap between the two clamping parts before folding to above the clamping block 3. When the sixth moving seat 4 drives the two clamping parts of the clamping block 3 to be released, the second protrusions are simultaneously contacted with the second guide inclined planes on the inner sides of the tops of the two clamping parts, the first protrusions are gradually far away from the clamping block 3 along with the continuous movement of the sixth moving seat 4, and the second protrusions move between the two clamping parts by pressing the second guide inclined planes and enable the second protrusions to be released.

Further, when the second protrusion enters the area between the two clamping parts and extrudes the clamping parts to two sides, the outer sides of the two clamping parts, which are relatively far away, are abutted against the groove walls at two sides of the clamping groove. The second projection thus fixes the clamping block 3 and the sixth movable seat 4 relative to each other so as to jointly move in the direction of penetration of the puncture needle 11 for resetting.

Further, the sixth moving seat 4 in the present embodiment may be directly driven by a driving wire, which may both pull and push the sixth moving seat 4. The sixth movable seat 4 may also be driven by a driving rope 10, as shown in fig. 20 of the accompanying drawings, one end of the driving rope 10 passes through the sixth movable seat 4, is reversed through a pin shaft 8 on the base, passes through the sixth movable seat 4 in the reverse direction, and passes through the clamping post 9 to be fixed relative to the sixth movable seat 4. The driving rope 10 can be driven by the needle control driving mechanism to drive the sixth moving seat 4 to reciprocate. Referring to fig. 20 of the drawings, the sixth moving seat 4 in the present embodiment is provided on the second guide post 6 between the third upper fixing seat 2 and the third lower fixing seat 7 constituting the base, the clamp block 3 is provided on the guide post 5 between the third upper fixing seat 2 and the third lower fixing seat 7, and the frictional resistance between the clamp block 3 and the guide post 5 is greater than the frictional resistance between the sixth moving seat 4 and the second guide post 6.

Example 7

The needle control assembly is sleeved outside the puncture needle, the puncture needle is clamped by the clamping component and is driven to move under the action of the moving mechanism, so that the puncture needle is driven to move unidirectionally or reciprocate by friction force, the moving mechanism comprises a moving seat which is arranged on the base in a sliding manner, and the clamping component is used for clamping the puncture needle so as to enable the puncture needle and the moving seat to be relatively fixed; the movable seat can reciprocate on the base and drive the clamping component to move, the clamping component adopts a passive clamping mechanism, and the needle control assembly is also connected with a transmission piece used for connecting the needle control driving mechanism; the moving mechanism comprises a moving seat which is arranged on the base in a sliding manner, and the clamping component is used for clamping the puncture needle so as to enable the puncture needle and the moving seat to be relatively fixed; the movable seat can reciprocate on the base and drive the clamping component to move, the clamping component adopts an active clamping mechanism or a passive clamping mechanism, and the needle control assembly is also connected with a transmission piece used for connecting the needle control driving mechanism.

When the needle control assembly is connected with the needle control driving mechanism through a flexible sleeve (a connecting hose 30442605 of the embodiment), a driving wire (a flexible push rod B of the embodiment) or hydraulic oil or gas is arranged in the flexible sleeve, a first power element is arranged in the needle control driving mechanism, and the first power element drives the driving wire or the hydraulic oil or gas to move relative to the flexible sleeve, so that power is transmitted to the needle control assembly, and the power element is one or a combination of a reciprocating part, a hydraulic oil pump and an air pump.

When the driving wire is arranged in the flexible sleeve, one end of the driving wire is connected with the needle control assembly, the other end of the driving wire is connected with the quick joint mechanism, the quick joint mechanism is detachably connected with the needle control driving mechanism, and the quick joint mechanism adopts one or a combination of a thread structure, a lock catch structure and a buckle joint structure.

As shown in fig. 23 to 27, the hole selecting plate 30442602 is mounted on the hole selecting mechanism 30442601, the particle passage joint 30442603 and the reciprocating push-pull mechanism 30442604 are connected to the hole selecting plate 30442602, the particle passage joint 30442603 is connected to the puncture needle 11 through a connecting hose 30442605, the reciprocating push-pull mechanism 30442604 is connected to the connecting base 30442617 through a connecting hose 30442605, the butt joint nozzle 30442615 and the push rod 30442610 are mounted on the radial arm mechanism 30442616, respectively, and the gear 30442609 is connected to the driving device. The movable block 30442611 is movably disposed in a fifth sleeve 30442612, which is secured to the reciprocating push-pull mechanism 30442604, and a spring 30442612 is mounted in the fifth sleeve 30442612. The flexible push rod A30442608 is arranged in the puncture needle 11, the flexible push rod B30442614 is connected to the clamping piece 30442622, the guide rod 30442618 is respectively connected with the clamping seat 30442620 and the connecting seat 30442617, the clamping piece mounting seat 30442619 is arranged on the guide rod 30442618, the clamping piece 30442622 is arranged on the clamping piece mounting seat 30442619, and the flexible push rod B30442614 is fixed on the clamping piece 30442622. The buckle seat 30442620 is clamped and installed on the 3D printing template 30442607, the force sensor 30442623 is connected to the push rod 30442610, and the movable block 30442611 is connected to the flexible push rod B30442614.

The particle passage connector 30442603 and the reciprocating push-pull mechanism 30442604 are in butt joint with a preset serial number hole on the hole selecting disc 30442602, then a needle pulling module connected with the particle passage connector 30442603 and the reciprocating push-pull mechanism 30442604 is fixed in a preset buckle 30442621 hole on the 3D printing template 30442607 through a clamping seat 30442619, a butt joint nozzle 30442615 and a push rod 30442610 are driven by a radial arm mechanism 30442616 to be in butt joint with the particle passage connector 30442603 arranged on the hole selecting disc 30442602 and the reciprocating push-pull mechanism 30442604, at the moment, the flexible push rod A30442608 pushes particles in the particle cartridge to enter the connecting hose 30442615 along the butt joint nozzle 30442615, finally reaches the tail end of the puncture needle 11, at the moment, the gear 30442615 drives the push rod 30442615 to be ejected forwards, when the force sensor 30442615 detects the pressure, the push rod 30442615 is pushed to the movable block 30442615 of the reciprocating push-pull mechanism 30442615, along with the forward movement pushing of the movable block 30442615, the flexible push rod B30442615 is pushed out of the reciprocating push-pull mechanism 30442615 to enter the connecting hose 30442615, the pushing clamping piece mounting seat 30442615 is pushed out downwards along with the guide rod 30442615 by the pushing clamping piece 30442615 of the flexible push rod B30442615, when the push rod 30442615 is retracted backwards, the movable block 30442615 is pushed back to the original position by the spring 30442615, along with the retraction of the movable block 30442615, the flexible push rod B30442615 is pulled back to the reciprocating push-pull mechanism 30442615, at the moment, the clamping piece 30442615 is pulled upwards by the flexible push rod B30442615 in an inclined mode, when the clamping piece 30442615 is pulled upwards in an inclined mode, the clamping groove of the clamping piece 30442615 just clamps the outer wall of the puncture needle 11, and the puncture needle 11 is pulled upwards along with the clamping piece 30442615. The needle pulling mechanism 30442606 can be used to adjust the insertion depth of the needle to change the implantation location of the particles, or can be used to push the particles out of the needle 11 at the same speed by the flexible push rod a 30442608 while the needle 11 is pulled up, at which time the particles will be accurately implanted into the patient's lesion. The particle cassette may be replaced with other forms of radiation source feed.

Example 8

The embodiment provides a regulation and control actuating mechanism, when accuse needle subassembly and accuse needle actuating mechanism pass through flexible sleeve connection, be equipped with driving wire, or hydraulic oil, or gaseous in the flexible sleeve, be equipped with first power component in the accuse needle actuating mechanism, first power component drive driving wire or hydraulic oil or gaseous for flexible sleeve motion to with power transmission to accuse needle subassembly, power component is one or combination of reciprocating motion portion, hydraulic oil pump, air pump.

The quick joint mechanism simultaneously leads out two sections or one section of driving wires; when the quick connector mechanism simultaneously leads out two sections of driving wires, when the part corresponding to one end of the driving wire moves, the part corresponding to the other end of the driving wire moves reversely by the same distance.

The quick connector mechanism is internally provided with a first piston, the first piston is connected with the driving wire, and when the first piston reciprocates in the quick connector mechanism under the drive of the needle control driving mechanism, the first piston drives the driving wire to reciprocate along the flexible sleeve;

Or a winding wheel mechanism is arranged in the quick connector mechanism, the driving wire is wound on the winding wheel, and when the winding wheel is driven by the needle control driving mechanism to rotate, the winding wheel drives the driving wire to move relative to the flexible sleeve;

or a friction wheel mechanism or a friction belt mechanism is arranged in the quick joint mechanism, the friction wheel mechanism or the friction belt mechanism directly clamps the driving wire, and when the friction wheel or the friction belt moves under the driving of the needle control driving mechanism, the friction wheel or the friction belt drives the driving wire to move relative to the flexible sleeve through friction.

The present embodiment includes a driving motor for providing a driving force; and the transmission assembly is connected with the driving motor, the driving motor can transmit the driving force of the driving motor to the needle control assembly through the driving wire, and when the winding wheel rotates under the driving of the needle control driving mechanism, the winding wheel winds and drives the driving wire to move relative to the flexible sleeve. Referring to fig. 28 of the drawings, the transmission assembly includes a third housing 44223101, a second reel 44223104 disposed within the third housing and wound with a fourth drive wire 44223105, the second reel 44223104 disposed on an axle 44223102, the axle 44223102 being secured to the third housing 44223101 by a fourth bearing 44223103. One end of the driving wire (elastic wire) extends out to be connected with the needle control assembly (refer to figures 28 and 29 of the accompanying drawings); both ends of the driving wire (driving rope) extend out and are connected with the needle control assembly (refer to fig. 30 and 31 of the accompanying drawings).

Referring to fig. 29 of the drawings, a plurality of guide wheels 461104 (or guide sliders) surrounding the third reel 461103 are further provided in the fourth housing 461101, and the guide wheels 461104 are capable of attaching the fifth driving wire 461105 to the circumferential surface of the third reel 461103. The third reel is fixed to the fourth housing 461101 by a fifth bearing 461102.

Referring to fig. 28 and 29 of the drawings, the housing has a wire outlet hole through which one end of the driving wire is wire-discharged; or referring to fig. 31 of the drawings, the housing has a wire outlet hole for the two ends of the driving wire to be commonly wire-outlet; or referring to fig. 30 of the drawings, the casing is provided with two wire outlet holes for respectively discharging wires from two ends of the driving wire, and one section of the driving wire is wound on the guide shaft, and then the guide shaft is driven to rotate, so that the recovery of one end of the driving wire and the discharge of the other end of the driving wire are completed.

Referring to fig. 30 of the drawings, the transmission assembly includes a second transmission shaft 443410, a sixth bearing 443411, a reversing wheel 443412, a driving rope 443413, a fifth housing 443414, a fixing ring 443415, a spring 443416, and a guide shaft 443417. The second transmission shaft 443410 is provided with a reversing wheel 443412, the two ends of the reversing wheel 443412 are provided with sixth bearings 443411 and are fixed in the fifth casing 443414, the fifth casing 443414 is provided with a guide shaft 443417 up and down, the driving rope 443413 is wound on the reversing wheel 443412 and is connected out through the guide shaft 443417, the driving rope 443413 extending out of the fifth casing 443414 is provided with a spring 443416 at one end, and the driving rope 443413 can be led out from the two ends of the fifth casing 443414 or on the same hole site. The retaining ring 443415 is used to mount other portions of the fifth housing 443414.

Example 9

The embodiment provides a regulation and control driving mechanism, the same parts as those of embodiment 6 are not tired, when the quick connector mechanism only leads out a section of driving wire, the driving wire can drive the needle control assembly to move unidirectionally along the pulling-out direction or reciprocate along the pulling-out and penetrating directions, or a reset element is further arranged on the needle control assembly and is used for resetting by utilizing elasticity after the driving wire drives the needle control assembly to move along the pulling-out direction.

Referring to fig. 32 of the drawings, the transmission assembly includes a sixth housing 4632301, a first channel formed in the sixth housing, a bushing 4632304 provided on an inner wall of the first channel, a first slider 4632302 provided in the first channel, one end of the first slider connected to a sixth driving wire 4632308, and the other end capable of being engaged with a push rod driven by a driving motor, a second rectification sleeve 4632306 sleeved on the sixth driving wire 4632308, and preventing the sixth driving wire 4632308 from being bent. A return spring 4632305 is disposed in the first channel and abuts or connects the first slider 4632302, the return spring being compressed when the first slider 4632302 slides in a direction that moves the sixth drive wire into the sixth housing. And the first slider 4632302 can be reversely moved to return under the elastic force of the return spring 4632305. A guide 4632307 is provided at the outlet of the sixth housing. The sixth housing is provided with a spring pin 4632303, the spring pin 4632303 is electrically connected with the chip, the spring pin 4632303 is automatically aligned with the external mechanism while the sixth housing 4632301 is mounted on the external mechanism, so that the chip inside the transmission assembly is electrically connected with the external mechanism.

Example 10

In this embodiment, the same parts as those in embodiment 6 are not described in detail, and the reciprocating motion of the driving wire is directly clamped by the friction wheel and is realized by friction driving.

Referring to fig. 33 of the drawings, the transmission assembly comprises at least one transmission pulley set having a driving pulley coupled to a driving motor, and a seventh drive wire 462208 disposed between at least two oppositely disposed friction pulleys 462207 forming one transmission pulley set. The plurality of transmission wheel sets are sequentially arranged along the length direction of the seventh driving wire. The transmission assembly specifically further includes a transmission shaft fixing plate 462201, a bevel gear 462202, a seventh bearing 462203, a third transmission shaft 462204, a connection plate 462205, a clamping plate 462206, a spur gear 462209, and a shroud 462210. The seventh bearings 462203 are respectively arranged at two ends of the third transmission shaft 462204, four friction wheels 462207 are arranged between the transmission shaft fixing plate 462201 and the clamping plate 462206, and the seventh bearings 462203 are arranged at two ends of the wheel shaft of the friction wheels 462207. At least one wheel shaft of the friction wheel 462207 in the two transmission wheel sets is in meshed transmission with a bevel gear 462202 passing through a third transmission shaft 462204, and the two transmission wheel sets are in meshed transmission through a set of spur gears 462209. The shroud 462210 serves as a housing to protect the inner wheelset. When the mechanism needs to work, the third transmission shaft 462204 of the mechanism receives force and transmits the force to the bevel gear 462202 on the shaft, the bevel gear on the third transmission shaft 462204 is meshed with the bevel gear 462202 on the friction wheel 462207, the force is transmitted to the friction wheel 462207 through the bevel gear 462202, the friction wheel 462207 at the bottom rotates to transmit the force to the friction wheel 462207 above through the straight gear 462209 at the other side, and when the elastic wire 462208 is inserted into the mechanism, the elastic wire 462208 is pulled out of the friction wheel 462207 by the friction wheel 462207 inside the mechanism to drive the elastic wire 462208 to move forwards and backwards.

Example 11

The flexible sleeve is internally provided with hydraulic oil or gas, one end of the flexible sleeve is connected with the connector, the inside of the connector is provided with a cavity communicated with the flexible sleeve and is provided with a second piston, the second piston can reciprocate in the cavity inside the connector under the drive of the needle control driving mechanism, and the hydraulic oil or gas is driven by the second piston to move relative to the flexible sleeve, so that power is transmitted to the needle control assembly;

or one end of the flexible sleeve is connected with a needle control driving mechanism, the needle control driving mechanism is provided with a hydraulic pump or an air pump, and the hydraulic pump or the air pump can pump out or inject hydraulic oil or air in the flexible sleeve so as to drive the hydraulic oil or air to move relative to the flexible sleeve, so that power is transmitted to the needle control assembly.

Referring to fig. 34 of the drawings, the transmission assembly includes a hydraulic pipe 45121, one end of the hydraulic pipe 45121 is connected, a cavity 45118 communicating with the hydraulic pipe 45121 is provided in the connector and is provided with a second piston 45120, the second piston 45120 can cooperate with a push rod driven by a driving motor, a top plate 45119 for abutting against the push rod is provided on one side of the second piston 45120, a driving member connected with the needle control assembly is provided on the other end of the hydraulic pipe 45121, and a hydraulic medium is sealed between the second piston and the driving member. The push rod front end is provided with a contact sensor 45123 for determining whether it is in contact with the second piston 45120 (the top plate 45119).

Further, referring to fig. 35 of the drawings, the hydraulic tube 45121 is mounted on a first mounting member 45122 of the regulated drive mechanism, the first mounting member 45122 having a plurality of mounting locations for mounting the hydraulic tube 45121 thereon. Referring to fig. 36 of the drawings, a hydraulic tube 45121 is mounted to each mounting location on the first mount 45122.

Example 12

Referring to fig. 37 to 39 of the drawings, the present embodiment provides a regulation driving mechanism, which further includes: the second mounting member 443409, the second mounting member 443409 is used for mounting the second driving motor 443401 and the transmission assembly, the second mounting member 443409 is provided with a plurality of mounting positions for mounting the transmission assembly, each mounting position corresponds to one puncture needle, and each mounting position is provided with the transmission assembly or at least one mounting position is provided with the transmission assembly; and a clutch assembly for connecting the second driving motor 443401 with the corresponding transmission assembly on the installation site to transmit driving force.

Further, referring to fig. 38 and 39 of the drawings, the clutch assembly includes: the adjusting unit is used for adjusting the driving force output position of the second driving motor 443401 so as to correspond to transmission components at different mounting positions on the mounting piece; and a power transmission unit provided at each mounting position on the mount for transmitting the driving force of the second driving motor 443401 to the transmission assembly.

The adjusting unit is a first moving platform, the first moving platform comprises a front-back moving module, a rotary moving module and a radial moving module, and the first moving platform realizes the movement of one end of the push rod in three degrees of freedom in space through the rotary movement in one direction and the linear movement in two directions.

Or the first motion platform comprises a front-back motion module, a left-right motion module and an up-down motion module, and the first motion platform realizes the motion of one end of the push rod in three degrees of freedom in space through the linear motion in three directions; or the first motion platform is a multi-joint mechanical arm, and the multi-joint mechanical arm can drive one end of the push rod to freely move and position in a three-dimensional space.

Referring to fig. 38 of the drawings, the adjusting unit includes a first adjusting motor 45101 corresponding to the center of the mounting member, an output end 45102 of the first adjusting motor 45101 is connected with a first bracket 45105, a second adjusting motor 45103 is mounted on the first bracket, a first adjusting screw 45104 extending radially along the second mounting member 443409 is connected with the second adjusting motor 45103, a first guide rail 45109 extending along the direction of the first adjusting screw 45104 is further mounted on the first bracket 45105, a first adjusting slider 45108 is provided on the first guide rail 45109, a second bracket 45106 is matched with the first adjusting screw 45104 through a first nut 45107, and the second bracket 45106 is simultaneously matched with the first guide rail 45109 through the first adjusting slider 45108; the second bracket 45106 is provided with a third adjusting motor 45117, the third adjusting motor 45117 is connected with a second adjusting screw rod 45115 perpendicular to the surface of the second mounting member 443409, the second bracket 45106 is further provided with a second guide rail 45110 with a second adjusting slide block 45111, the second adjusting screw rod 45115 is matched with a third bracket 45112 through a second nut 45116, the third bracket 45112 is simultaneously matched with a second guide rail 45110 through a second adjusting slide block 45111, and the third bracket 45112 is fixedly provided with a push rod 45113 through a second fixing plate 45114. The adjusting unit can make its adjusting range cover the whole second mounting member 443409 by the first adjusting motor 45101 and the second adjusting motor 45103.

Referring to fig. 37 and 39 of the drawings, the power transmission unit includes a transmission shaft 443406 and a synchronous pulley 443402 sleeved on the transmission shaft 443406, the synchronous pulley 443402 is mounted on the second mounting member 443409 through an eighth bearing 443408, the transmission shaft 443406 can slide axially along itself relative to the synchronous pulley 443402, a plurality of synchronous pulleys 443402 of a plurality of power transmission units on the mounting member and the synchronous pulley 443402 of the output end of the second driving motor 443401 disposed on the mounting member 443409 are connected for transmission through a synchronous belt 443403; the two ends of the transmission shaft 443406 are respectively provided with an abutting joint 443404, and the abutting joint 443404 at one end can abut against the push rod 45113 of the adjusting unit and be pushed, so that the abutting joint 443404 at the other end abuts against the rotating piece of the transmission assembly, and the driving force of the second driving motor 443401 is transmitted to the transmission assembly.

When the power transmission device needs to work, the transmission assembly is installed in the installation piece 443409, the adjusting unit controls the push rod 45113 to find a corresponding working position, the third adjusting motor 45117 drives the push rod 45113 to move forwards, the push rod 45113 stretches out, the contact sensor 443418 at the front end of the push rod 45113 firstly touches the abutting joint 443404 at the end part of the transmission rotating shaft 443406 of the power transmission unit, and accordingly when the push rod 45113 contacts the abutting joint 443404, and high-precision position control is achieved. The contact sensor 443418 is two pins, the abutting joint 443404 is an electric conductor, and when the pins contact the electric conductor, a trigger contact signal is conducted between the two pins. Or the contact sensor 443418 is a force sensor, which increases in pressure when the push rod 45113 contacts the abutment 443404, thereby determining that the push rod 45113 has contacted the abutment 443404; the force sensor can also be changed into a torque sensor or a current sensor of the motor. Or the contact sensor 443418 is one or more combinations of a travel switch, a proximity switch, a hall switch, a photoelectric switch, a trigger signal when the push rod 45113 is in contact with or about to be in contact with the abutment 443404. The push rod 45113 presses the abutment 443404 to push the drive shaft 443406 inward until the drive shaft 443406 compresses the drive shaft within the drive assembly. The second driving motor 443401 controls the synchronous belt 443403 to rotate, all the driving rotating shafts 443406 on the second mounting piece 443409 rotate, the compressed driving shafts in the driving assembly also rotate simultaneously under the action of friction force, and the driving assembly controls the driving wires wound on the surface of the driving assembly to perform needle pulling work through the winding wheel of the driving assembly.

Further, referring to fig. 39 of the drawings, a third fixing plate 443407 is further provided on one side of the mount in parallel with the second mount 443409, and a timing pulley 443402 is provided between the second mount 443409 and the third fixing plate 443407. The transmission shaft 443406 is further sleeved with a return spring 443405, and the return spring is located between the abutting joint 443404 of one end of the push rod 45113 of the transmission shaft matching adjustment unit and the third fixing plate 443407.

In this embodiment, the power transmission unit may also adopt other structures: referring to fig. 40 and 41 of the drawings, the power transmission unit includes a second transmission shaft 442207 and a transmission shaft sleeve 442204 disposed at one end of the second transmission shaft 442207, and a transmission bayonet is formed on an end surface of the transmission shaft sleeve 442204, and the transmission bayonet can be matched with an output end of the driving motor, and the second transmission shaft 442207 and the output end of the driving motor are relatively fixed in a circumferential direction. The power transmission unit further includes a first driving shaft seat 442205 for mounting the second driving shaft 442207, the second driving shaft 442207 is assembled with the first driving shaft seat 442205 through a ninth bearing 442206, and the first driving shaft seat 442205 is disposed on the fourth fixing plate 442208. Referring to fig. 42 and 43 of the drawings, the power transmission unit includes a third transmission shaft 4422124 and a driven wheel 4422119 disposed at one end of the third transmission shaft 4422124, where the driven wheel can be matched with a driving wheel disposed at an output end of the driving motor, and the driven wheel 4422119 and the driving wheel are gears or friction wheels that are matched with each other. The power transmission unit further includes a second driving shaft seat 4422122 for mounting the third driving shaft 4422124, the third driving shaft 4422124 is assembled with the second driving shaft seat 4422122 through a tenth bearing 4422123, the second driving shaft seat 4422122 is disposed on the third mounting member 4422120, and the third driving shaft 4422124 penetrates the third mounting member 4422120 and a fifth fixing plate 4422121 disposed in parallel with the third mounting member 4422120. While the fundamental and principal features of the invention and advantages of the invention have been shown and described, it will be apparent to those skilled in the art that the invention is not limited to the details of the foregoing exemplary embodiments, but may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.

Claims

1. The single puncture depth regulating and controlling mechanism and the regulating and controlling driving mechanism thereof are characterized by comprising a base, a needle control assembly and a needle control driving mechanism, wherein the needle control assembly is arranged on the base and is connected with the needle control driving mechanism through a flexible sleeve or a flexible cable; the needle control assembly can be fixed relative to the puncture needle, and can drive the puncture needle to move relative to the base under the drive of the needle control driving mechanism so as to pull out outwards or puncture inwards for a certain distance.

2. The single puncture depth regulating mechanism and the regulating driving mechanism thereof according to claim 1, wherein the needle control assembly is sleeved outside the puncture needle, the puncture needle is clamped by the clamping component and is driven to move by the moving mechanism, so that the puncture needle is driven to move unidirectionally or reciprocally by friction force; or the abutting part abuts against the puncture needle and is driven to move under the action of the moving mechanism, so that the puncture needle is pushed to move unidirectionally or reciprocate; or the puncture needle is pressed by a friction wheel or a friction belt and driven to reciprocate under the action of friction driving force.

3. The single puncture depth regulating mechanism and the regulating driving mechanism thereof according to claim 2, wherein the circumferential surface of the friction wheel or the friction belt can press the puncture needle under the action of the pressing mechanism and can drive the puncture needle to move through friction driving force; the pressing mechanism is an active pressing mechanism or a passive pressing mechanism; the two friction wheels or the friction belts jointly press the puncture needles when the two clamping pieces are arranged.

4. The single penetration depth controlling mechanism and controlling driving mechanism thereof according to claim 2, wherein when the needle controlling assembly clamps the puncture needle by the clamping member and drives the clamping member to move under the action of the moving mechanism, the puncture needle is driven to move unidirectionally or reciprocally by friction force, the moving mechanism comprises a moving seat slidably provided on the base, the clamping member is used for clamping the puncture needle so as to fix the puncture needle and the moving seat relatively; the movable seat can reciprocate on the base and drive the clamping component to move, the clamping component adopts an active clamping mechanism or a passive clamping mechanism, and the control needle assembly is also connected with a transmission part used for connecting the control needle driving mechanism;

The active clamping mechanism is provided with a first driving unit which can actively control the clamping part to clamp and release the puncture needle, and can be matched with the movable seat to realize upward needle pulling movement;

5. The single puncture depth regulating mechanism and the regulating driving mechanism thereof according to claim 4, wherein the passive clamping mechanism adopts a claw clamping assembly, or a side propping assembly, or a rotary clamping assembly to clamp the puncture needle;

the clamping assembly of the clamping jaw comprises the clamping jaw, the clamping jaw is guided by a hinge or a chute and can perform opening or closing movement, the movement mechanism drives the clamping jaw to automatically retract and clamp the puncture needle when the clamping jaw moves upwards, and the movement mechanism drives the clamping jaw to automatically open and loosen the puncture needle when the clamping jaw moves downwards;

The clamping assembly of the claw comprises a sliding block, wherein a jacking pin is arranged on the sliding block, the sliding block is driven by a moving mechanism, the claw moves upwards and downwards under the pushing action of the sliding block, an inclined plane or a sliding groove is arranged on the claw, the jacking pin props against the inclined plane at the lower side of the claw to push the claw to move upwards, clamping of the claw is achieved, and the jacking pin props against the inclined plane at the upper side of the claw to push the claw to move downwards, so that the claw is loosened;

the side propping assembly is a side compacting assembly or a side tensioning assembly, the side compacting assembly or the side tensioning assembly can automatically press/tension the puncture needle from the side when the side compacting assembly or the side tensioning assembly is driven upwards by the movement mechanism, the upward driving of the puncture needle is realized by virtue of friction force generated by pressing/tensioning, and then the side compacting assembly or the side tensioning assembly can be automatically loosened when the side compacting assembly or the side tensioning assembly is driven downwards by the movement mechanism, so that the side compacting assembly or the side tensioning assembly can be reset;

the side pressing assembly or the side tensioning assembly adopts a connecting rod clamping assembly, and the puncture needle is pried and pressed/pulled through a connecting rod; or the side pressing component or the side tensioning component adopts a cam clamping component, and the puncture needle is pressed/pulled through cam rotation; or the side pressing assembly or the side tensioning assembly adopts an inclined plane or a sliding groove clamping assembly, and the pressing block or the tensioning block is driven to move through the inclined plane or the sliding groove to press/tension the puncture needle; the side pressing assembly or the side tensioning assembly is provided with a limiting part which can not be continuously loosened when the side pressing assembly or the side tensioning assembly is loosened to a certain position;

The rotary clamping assembly comprises a rotary piece and a rotary driving mechanism, the rotary clamping assembly drives the rotary piece to rotate or bend through the rotary driving mechanism when being driven by the motion mechanism to move upwards, a through hole, a through groove or a double-protruding column is arranged on the rotary piece, and a puncture needle passing through the through hole, the through groove or the double-protruding column is distinguished when the rotary piece rotates or bends; when the rotary clamping assembly is driven by the movement mechanism to move downwards, the rotary part is driven by the rotary driving mechanism to rotate or bend to a limiting position, and the rotary part is not used for distinguishing the puncture needle at the limiting position;

6. The single body penetration depth control mechanism and the control driving mechanism thereof according to claim 1, wherein when the control needle assembly and the control needle driving mechanism are connected through a flexible sleeve, a driving wire, or hydraulic oil, or gas is arranged in the flexible sleeve, a first power element is arranged in the control needle driving mechanism, and the first power element drives the driving wire, or the hydraulic oil, or the gas to move relative to the flexible sleeve, so that power is transmitted to the control needle assembly, and the power element is one or a combination of a reciprocating part, a hydraulic oil pump and an air pump;

Or when the needle control assembly is connected with the needle control driving mechanism through a flexible cable, a second power element is arranged on the needle control assembly, the second power element is a motor or an electric push rod, and the needle control driving mechanism acts by electrically controlling the second power element, so that the needle control assembly is driven to pull out or insert the puncture needle.

7. The single body penetration depth adjusting and controlling mechanism and the adjusting and controlling driving mechanism thereof according to claim 6, wherein when the driving wire is arranged in the flexible sleeve, one end of the driving wire is connected with the needle control assembly, the other end of the driving wire is connected with the quick joint mechanism, the quick joint mechanism is detachably connected with the needle control driving mechanism, and the quick joint mechanism adopts one or a combination of a thread structure, a locking structure and a buckling joint structure.

8. The single penetration depth adjusting and controlling mechanism and the adjusting and controlling driving mechanism thereof according to claim 7, wherein the quick joint mechanism simultaneously leads out two sections or one section of driving wires;

when the quick connector mechanism simultaneously leads out two sections of driving wires, and when the part corresponding to one end of the driving wire moves, the part corresponding to the other end of the driving wire moves reversely by the same distance;

When the quick connector mechanism only draws out a section of driving wire, the driving wire can drive the needle control assembly to move unidirectionally along the pulling-out direction or reciprocate along the pulling-out and penetrating directions, or a reset element is further arranged on the needle control assembly and is used for resetting the needle control assembly by utilizing elasticity after the driving wire drives the needle control assembly to move along the pulling-out direction.

9. The single penetration depth control mechanism and its control drive mechanism according to claim 7,

or a friction wheel mechanism or a friction belt mechanism is arranged in the quick joint mechanism, the friction wheel mechanism or the friction belt mechanism directly clamps the driving wire, and when the friction wheel or the friction belt moves under the driving of the needle control driving mechanism, the friction wheel or the friction belt drives the driving wire to move relative to the flexible sleeve through friction;

10. The single puncture depth control mechanism and the regulation driving mechanism thereof according to claim 6, wherein hydraulic oil or gas is arranged in the flexible sleeve, one end of the flexible sleeve is connected with the connector, a cavity communicated with the flexible sleeve is arranged in the connector and is provided with a second piston, the second piston can reciprocate in the cavity in the connector under the driving of the needle control driving mechanism, and the hydraulic oil or gas is driven by the second piston to move relative to the flexible sleeve, so that power is transmitted to the needle control assembly;